Folding Arbitrary 3D Shapes with Space-Filling Chain Robots: Folded Configuration Design as 3D Hamiltonian Path through Target Solid
نویسندگان
چکیده
We propose a method for arbitrary 3D shape formation by folding chains of hinged polyhedra. This paper presents an incremental algorithm for finding a space filling curve, a Hamiltonian path, within a 3D solid. The algorithm is a bottom up approach that starts with minimal local paths connecting small clusters of neighboring constituent polyhedra and incrementally merges neighboring paths along compatible polyhedra edges. We have developed the algorithm for the chains of joined cubes and tetrahedra and show results of chain folding for a number of solids.
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تاریخ انتشار 2009